Home

NOVOtechnik

1. Index Object dictionary parameter index Subindex Object dictionary parameter subindex COB ID DLC Ry Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x600 Node ID 8 Rx 0x40 Index Sub 0x00 0x00 0x00 0x00 index 0x580 Node ID 8 Tx 0x42 Index Sub Data Data Data Data index LSB MSB 9 6 3 SDO Abort If the SDO download or SDO upload service fails for any reason the sensor responds with a SDO abort protocol Abort Code 0x0609001 1 subindex does not exist 0x06090030 value exceeded 0x06020000 object does not exist 0x06010001 object is write only 0x06010002 object is read only 0x08000020 data transport error 0x08000000 general error 0x08000022 wrong state COB ID DLC R Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x580 Node ID 8 Tx 0x80 Index Sub Abort code index 9 7 Process Data PDO Process Data Objects according CiA DS 301 manage the process data exchange f e the cyclical transmission of the position value The process data exchange with the CANopen PDOs is a very slim process without protocol overhead 9 7 1 PDO Setting One Transmit PDO TPDO with max 8 bytes is provided 0x1800 TPDO1 default asynchronous with event timer switched on changeable to synchronous Subindex 1 COB ID PDO The PDO can also be disabled with this parameter Bit number Value Meaning 31 MSB 0 PDO exists valid 31 MSB 1 PDO does not exist
2. is not valid 10 0 LSB X Bits of PDO COB ID Subindex 2 The transmission type defines the transmission character of the PDO Transmission type PDO Transmission PDO Transmission RTR only synchronous asynchronous 0 240 X 254 255 X 252 253 X X 241 251 not valid reserved Version 00 2014 10 nderungen vorbehalten Specifications subject to change TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe Synchronous mode When the sensor is in NMT operational state and the transmission type is between 0 240 the synchronous mode is enabled The PDO is transmitted by the sensor after receiving every n SYNC object The SYNC object has the following format COB ID DLC Ry Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 X 0x080 0 Rx The COB ID of the SYNC object message can be individually programmed with Index 1005 So the COB ID of the SYNC message can be different Asynchronous mode If the transmission type is set to 254 or 255 the PDO transmission is asynchronous from the SYNC object The PDO is transmitted after the event timer index 1800 5 or cyclic timer index 6200 is ex pired Both objects control the same timer Event timer meaning 0 PDO transmission disabled 1 65535 PDO transmission in ms Polling with remote frames The polling of the PDO data with r
3. Time Stamp no Emergency Messages Producer Node Guarding No Heartbeat Producer Non volatile storage yes Program Download no NMT Service Slave Version 00 2014 10 Anderungen vorbehalten Specifications subject to change 2 TIM CANopen Gebrauchsanleitung TIM CANopen user manual 9 2 3 Basics based on CiA DSP 406 V3 2 novoiechnik Siedle Gruppe Encoder class k C1 O C2 Encoder type Absolute Linear Encoder 9 2 4 Basics SDO communication SDO communication 1 Server expedited transfer yes segmented transfer no Block transfer no 9 2 5 Basics PDO communication PDO communication principle Producer TPDO asynchronous with Event Timer TPDO synchronous Remote Transmission Request RTR PDO Mapping constant max PDO Mapping logs per PDO 2 Version 00 2014 10 nderungen vorbehalten Specifications subject to change novoiechnik Siedle Gruppe TIM CANopen Gebrauchsanleitung TIM CANopen user manual 9 3 Object Library 9 3 1 Communication Profile Area based on DS 301 V4 02 Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 1000 device type unsigned32 ro no 0x000A0196 Device profile 406 multi sensor encoder interface 1001 error register unsigned8 ro no 0x00 See chapter 9 8 Error Handling 0x00 No error 0x8
4. Automatic alteration of COB ID s for SDO EMCY Heartbeat and TPDO e Non volatile Node ID storage through Store Configuration in the LSS mode configuration 9 5 2 Configuration of Bit Rate The Bit Rate can be programmed with LSS Command 0x13 Table Index 0x09 10kBaud 0x08 20 kBaud 0x06 50 kBaud 0x04 125 kBaud 0x03 250 kBaud 0x02 500 kBaud 0x01 800 kBaud 0x00 1000 kBaud Err Code 0 protocol successfully completed 1 Bit timing not supported COB ID OLC PA Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x75E 8 Rx 0x13 0x00 Table 0x00 0x00 0x00 0x00 0x00 Index 0x74E 8 Tx 0x13 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 The baud rate gets active after receiving the Activate Bit timing parameters command or after the Store Configuration Data command with the next Power on Reset 9 5 3 Activate Bit timing parameter With the LSS Command 0x15 the LSS master shall activate the bit timing defined by the configure bit timing parameters service COB ID DLC PA Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 X 0x75E 8 Rx 0x15 Switch delay 0x00 0x00 0x00 0x00 0x00 Switch delay Time in ms internal multiplied by 2 when the new bit timing parameters become active Note No communication should be performed until the 2 switch delay time runs out Version 00 2014 10 nderungen vorbehalten Specificatio
5. change 6 TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe After receiving the identification objects the encoder answers with LSS Command 0x44 COB ID DLC ES Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x40 0x82 0x01 0x00 0x00 0x00 0x00 0x00 0x7E5 8 Rx 0x41 OxE0O 0x0B 0x00 0x00 0x00 0x00 0x00 0x7E5 8 Rx 0x42 0x03 0x00 0x01 0x00 0x00 0x00 0x00 0x75E 8 Rx 0x43 0x78 0x56 0x34 0x12 0x00 0x00 0x00 0x7E4 8 Tx 0x44 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Switch Mode Global all CANopen devices supporting LSS are switched to the LSS configuration state COB ID DLC px Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x04 0x01 0x00 0x00 0x00 0x00 0x00 0x00 When the CAN devices are in configuration state the Node ID and or the baud rate can be changed 9 5 1 Configuration of Node ID When programming the Node ID only one slave may be connected The Node ID can be programmed with the LSS Command 0x11 N ID new Node ID in the range of 1 127 Err Code 0 protocol successfully completed 1 Node ID out of range COB ID LC Ay Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 Rx 0x11 N ID 0x00 0x00 0x00 0x00 0x00 0x00 0x7E4 8 Tx 0x11 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 Change of Node ID will cause e
6. consumer receives the indication The relationship between producer and consumer is configurable via the object dictionary by SDO By default the heartbeat is disabled The first byte of the heartbeat message contains the actual network management state of the sensor State 0x00 Bootup 0x04 Stopped 0x05 Operational 0x07F Pre operational Heartbeat protocol COB ID EMCY DLC RA Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 X 0x700 Node ID a Tx State 9 10 Non Volatile Storage and Data Restoration Default values for all data objects are stored in the non volatile program memory Data encryption to the non volatile memory is only admitted in the pre operational status e Storage via LSS Data must be stored through the LSS Service Configuration Store while in LSS Configuration Mode see chapter 9 5 LSS Layer Setting Service e Storage via SDO Object 0x1010 Data is stored in the non volatile memory during encryption of object 0x1010 with save signature 0x65766173 Object 0x1011 Encryption of object 0x1011 with the signature load 0x64616F6C will upload data from the non volatile memory Default settings are being restored see chapter 9 6 SDO Services Version 00 2014 10 nderungen vorbehalten Specifications subject to change 11 TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe 9 11 Abbreviations CAN
7. 1 transducer error 1002 manufacturer unsigned8 ro no 1 Additional manufacturer spec status status register register see chapter 9 4 1 Object 1002 1005 COB ID SYNC unsigned32 rw no 0x00000080 COB ID SYNC message CAN identifier 1008 manufacturer visible_ string const no f e TIM 0100 Device name see datasheet ordering device name 306 614 106 code 1009 Hardware visible_string const no 1 00 Manufacturer Hardware Version 100A Software visible_string const no 1 00 Manufacturer Software Version 100B Node ID unsigned32 ro no 127 Node ID can be changed via LSS s chapter 9 5 1 Configuration of Node ID 100E COB ID Error unsigned32 rw no 0x00000700 COB ID Error Control Control Node ID 1010 store parameter unsigned8 ro no 1 This entry supports saving of pa field rameters in non volatile memory With a read access the device pro vides information about its saving capabilities For saving the signature save 0x65766173 must be written 1010 1 _ store parameter unsigned32__ rw no 0x73617665__ Save all parameters 1011 restore default unsigned8 ro no 1 This entry supports restoring of parameters default parameters With a read access the device provides infor mation about its capabilities to re store these values For restoring the signature load 0x64616f6c must be written 1011 1 unsigned32 rw no Ox6C6F6164 _ Restore all default parameters 1014 COB ID EMCY unsigned32 rw no 0x00000080 COB ID used for emergency mes
8. Controller Area Network ch channel COB ID Communication Object Identifier const constant parameter only readable DLC Data Length Code DS Draft Standard EMCY Emergency Service NMT Network Management PDO Process Data Object Pos Position value ro read only parameter can change rw read write Rx Novotechnik sensor is consumer of the CAN data frame RTR Remote Transmission Request SDO Service Data Object SYNC Synchronisation message TPDO Transmit Process Data Object Tx Novotechnik sensor is producer of the CAN data frame 9 12 Document Changes Revision Changes Date Who V_00 First edition 23 10 14 VM mm V_01 V_02 e V_03 e V_04 e V_05 e Version 00 2014 10 nderungen vorbehalten Specifications subject to change 12
9. Node ID sage Emergency Server 1017 producer heart unsigned16 rw no 0x00000000 __ Heartbeat time periode in ms beat time disabled Range 0 65535 1018 identify object unsigned8 ro no 4 General information about the device This information is also used as the LSS address when using switch mode selective command 1018 1 unsigned32 ro no 0x00000182 Vendor ID 1018 2 unsigned32 ro no 0Ox0FBC Product code 1018 3 unsigned32 ro no 0x312E3031 Revision number 1018 4 unsigned32 ro no XXXXXXXX Serial number see chapter 9 2 1 Basic information 1200 Server SDO unsigned8 ro no 2 Number of largest sub index parameter 1 1200 1 unsigned32 ro no 0x00000600 COB ID client to server Rx Node ID 1200 2 unsigned32 ro no 0x00000580 COB ID server to client Tx Node ID Version 00 2014 10 nderungen vorbehalten Specifications subject to change TIM CANopen Gebrauchsanleitung TIM CANopen user manual novoiechnik Siedle Gruppe Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 1800 transmit PDO unsigned8 ro no 5 It contains the communication pa communication rameters of the current PDO the parameter 1 device is able to transmit 1800 1 unsigned32 rw no 0x00000180 COB ID used by PDO1 transmi
10. Standard specifications For making use of all the features that these specifications offer a knowledge about them is absolutely necessary The sensor supports the CANopen Communication profile DS 301 V4 02 Encoder profile DSP 406 V3 2 and Layer Setting Services LSS DSP 305 V2 1 1 9 1 EDS Files For integration in a common CANopen projecting tool electronic data sheet eds files are provided These files can be downloaded from the Novotechnik Web Site see Downloads Operating manuals where also this document can be found gt Electric data sheet see file TIM_CANopen_Vx x eds 9 2 Features 9 2 1 Basic information Vendor ID 386 0x0182 Novotechnik Product code 04028 OxOFBC Rev No 0x312E3031 Serial No see product label xxxxxxxx z B 14401234 9 2 2 Basics based on CiA DS 301 V4 02 Standard 11 bit according to pre defined connection set Services COB ID NMT 0x00 CAN Identifier SYNG 0x039 EMCY 0x080 Node ID PDO1 Tx 0x180 Node ID SDO Rx 0x600 Node ID SDO Tx 0x580 Node ID Bit rate is defined in the ordering code 6_9 10 kBaud 6_8 20 kBaud 6_7 50 kBaud 6_5 125 kBaud CAN Bit rates 6_4 250 kBaud 6_3 500 kBaud 6_2 800 kBaud 6_1 1000 kBaud setting per LSS see chapter 9 5 LSS Layer Setting Ser vice 0x7F setting per LSS see chapter 9 5 LSS Layer Setting Ser Node ID vice or object 0x100B see chapter 9 6 1 SDO Services SYNC Consumer
11. TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe Content 9 CANopen 9 1 EDS Files 9 2 Features 9 2 1 Basic information 9 2 2 Basics based on CiA DS 301 V4 02 9 2 3 Basics based on CiA DSP 406 V3 2 9 2 4 Basics SDO communication 9 2 5 Basics PDO communication 9 3 Object Library 9 3 1 Communication Profile Area based on DS 301 V4 02 9 3 2 Device Profile Area 9 4 Explanations to Object Library 9 4 1 Object 0x1002 Manufacture Status Register 9 5 LSS Layer Setting Service 9 5 1 Configuration of Node ID 9 5 2 Configuration of Bit Rate 9 5 3 Activate Bit timing parameter 9 5 4 Store Configuration Data 9 6 SDO Services 9 6 1 SDO Download 9 6 2 SDO Upload 9 6 3 SDO Abort 9 7 Process Data PDO 9 7 1 PDO Setting OD ODWDWDANNND ODO TKR BR WWWNHNMDY PLD PY 9 7 2 PDO message format 10 9 8 Error Handling 10 9 8 1 Emergency Messages 10 9 9 Error Control Service 11 9 10 Non Volatile Storage and Data Restoration 11 9 11 Abbreviations 12 9 12 Document Changes 12 Version 00 2014 10 nderungen vorbehalten Specifications subject to change 1 TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe 9 CANopen This document reflects the Novotechnik sensor protocol implementation of the standard CANopen protocol A basic knowledge of the CAN Bus is required for a proper understanding of this document Most of the definitions made are according to the following CiA
12. emote frames is independent from the transmission type Index 1800 2 The PDO is transmitted by the sensor after receiving the corresponding PDO remote frame The PDO remote frame has the following format COB ID DLC Rx Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 PDO COB ID 0 Rx 3 z 3 z 3 3 RTR bit 9 7 2 PDO message format The PDO message mapping is described in Index 1A00 COB ID DLC RA Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 X 0x180 6 Tx Position Position Position Position Speed Speed Node ID LSB MSB LSB MSB For the PDO message the actual measuring steps for the position and speed values can be read with object linear encoder measuring step settings Index 6005 9 8 Error Handling Emergency objects are triggered by the occurrence of a sensor internal error An emergency object is transmitted only once per error event If one or all errors are repaired the device transmits an emer gency object with the error code 0x000 reset error no error This message contains also error regis ter with the remaining errors 9 8 1 Emergency Messages COB ID EMCY PLC ay Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x80 Node ID 8 Tx Emercency Error Error 0x00 0x00 0x00 0x00 0x00 Code Register see next table Object 0x1001 COB ID EMCY in object 0x1014 V
13. ersion 00 2014 10 nderungen vorbehalten Specifications subject to change 10 TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe Two Error conditions are defined 0x50xx Device Hardware Error and 0x63xx Data Set Error Error Code Error Description Register Byte 0 1 Byte 2 0x0000 0x00 Sensor Error resetted no Error 0x5000 0x81 Device Hardware Error Cause The Device Hardware Error is send when the microcontroller detects no stop pulses during one measuring cycle and when the Error Counter runs out 0x6300 Data Set Error Cause The Data Set Error is send by the sensor when the internal test function detects a mismatch between the new calculated and the stored checksum of the non volatile memory of the sensor The checksum is checked during the NMT Initialisation state The checksum is also checked when the LSS Store Configuration Data command 10 1 4 or a valid SDO download to Object 0x1010 store parameters is received This error can only be cleared by a reset of the device and a success ful checksum comparison in the new initialization state 0x01 Data Set Error 0x081 Device Hardware Error and Data Set Error 9 9 Error Control Service Through error control services the NMT detects failures in a CAN based Network When the error control service is enabled the TIM CANopen sensor cyclically transmits a heartbeat message One or more heartbeat
14. ns subject to change 7 TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe 9 5 4 Store Configuration Data The LSS configuration data Node ID and Bit Rate are stored to the non volatile memory of the sen sor using LSS Command 0x17 Err Code 0 protocol successfully completed 2 storage media access error COB ID DLC RA Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x75E 8 Rx 0x17 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x74E 8 Tx 0x17 Err Code 0x00 0x00 0x00 0x00 0x00 0x00 9 6 SDO Services Service Data Objects SDO according to CiA DS 301 manage the parameter data exchange e g the non cyclical execution of the preset function Parameters of device object library object index subindex see chapter 9 3 Object Library can be read written or stored by means of SDO 9 6 1 SDO Download The SDO download service is used to configure the parameters Command 0x2_ 0x22 write command parameter to encoder 0x23 write command 4 Byte parameter to encoder 0x27 write command 3 Byte parameter to encoder 0x2B write command 2 Byte parameter to encoder 0x2F write command 1 Byte parameter to encoder Command 0x60 confirmation parameter received Index Object dictionary parameter index Subindex Object dictionary parameter subindex COB ID DLC ny Command Byte0 Byte1 Byte2 Byte3 By
15. ntroller error 0 no error 1 the internal test routines detects an error T Temperature C 0 T lt Max temperature 1 T gt Max temperature 9 5 LSS Layer Setting Service To configure the encoder via the LSS according CiA DS 305 the encoder is handled as a slave the PLC must have a LSS master functionality A LSS message is composed as follows COB ID DLC Command Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 This applies to the COB ID e LSS Master gt LSS Slave 2021 0x7E5 e LSS Slave gt LSS Master 2020 0x7E4 LSS can only be used when the encoder is in the stopped status or pre operational status The NMT command for setting the encoder in stopped status is COB ID DLC Command ByteO Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 0x7E5 8 0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00 To program via LSS the sensor has to be switched to LSS configuration state There are two possible ways to do so e Switch Mode Selective only the addressed CANopen device is switched to the LSS configuration state LSS requires data content in the following objects Example Vendor ID see index 1018 1 0x0182 LSS Command 0x40 Product code see index 1018 2 OxOBEO LSS Command 0x41 Rev No see index 1018 3 0x10003 LSS Command 0x42 Serial No see index 1018 4 0x12345678 LSS Command 0x43 Version 00 2014 10 nderungen vorbehalten Specifications subject to
16. ssion Node ID type of PDO1 1800 2 unsigned8 rw no OxFE 254 Transmission type see chapter 9 7 7 PDO Setting 1800 5 unsigned16 rw no 1 Event timer in ms Range 1 65535 1A00 TPDO mapping Contains the mapping for the PDOs parameter 1 the device is able to transmit 1A00 0 unsigned8 const no 0x2 Number of entries 1A00 1 unsigned32 const no 0x60200120 Mapping entry 1 position value 1A00 2 unsigned32 const no 0x60300110 Mapping entry 2 speed value 9 3 2 Device Profile Area Object description Entry description Index Name Data Type Access PDO Default value Comment subindex Mapping 6000 operating unsigned16 rw no 0x0 This object contains the functions for parameter code sequence and commissioning diagnostic control 6005 Linear encoder Object sets the number of distin measuring step guishable steps over the total meas settings uring range total resolution 6005 0 Unsigned8 ro no 0x02 Number of objects 6005 1 unsigned32_ ro no 100000 Position measuring step 0 001 um 6005 2 unsigned32__ ro no 100 Speed measuring step 0 01mm s 6010 preset value This object supports adaption of the encoder zero point to the mechanical zero point of the system 6010 0 unsigned8 ro no 0x01 Number of available channels 6010 1 integer32 rw no 0x0 Preset value 6020 position value This object defines the output posi tion value 6020 0 unsigned8 ro no 0x1 Number of available channels 6020 1 integer32 ro yes no Position value 6030 speed value This object defines the o
17. te4 Byte5 Byte6 X 0x600 Node ID 8 Rx 0x2_ Index Sub Data Data Data Data index LSB MSB 0x580 Node ID 8 Tx 0x60 Index Sub 0x00 0x00 0x00 0x00 index Example object index 0x1010 subindex 01 store all parameters 0x600 Node ID_ 8 Rx 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65 0x580 Node ID_ 8 Tx 0x60 0x10 0x10 0x01 0x00 0x00 0x00 0x00 Example object index 0x1011 subindex 01 restore all parameters 0x600 Node ID_ 8 Rx 0x23 0x11 0x10 0x01 0x6C Ox6F 0x61 0x64 0x580 Node ID_ 8 Tx 0x60 0x11 0x10 0x01 0x00 0x00 0x00 0x00 Example object index 0x100B subindex 0 set new node ID with 64 0x600 Node ID_ 8 Rx 0x23 0x0B 0x10 0x00 0x80 0x00 0x00 0x00 0x580 Node ID_ 8 Tx 0x60 0x0B 0x10 0x00 0x01 0x00 0x00 0x00 NODE ID Using writing to object 0x100B non volatile storage has to be done by writing the save signature 0x65766173 on object 0x1010 1 These changes will become effective after a communication restart or a power up Changing the Node ID will affect all COB IDs according to the predefined connection set Example COB ID TPDO 0x180 Node ID Version 00 2014 10 nderungen vorbehalten Specifications subject to change 8 novoiechnik Siedle Gruppe TIM CANopen Gebrauchsanleitung TIM CANopen user manual 9 6 2 SDO Upload The SDO upload service is used to read the parameters Command 0x40 Command 0x4_ 0x42 read command parameters from encoder read command parameter to encoder
18. utput speed value 6030 0 unsigned8 ro no 0x1 Number of available channels 6030 1 integer16 ro yes no Speed value 6200 cyclic timer unsigned16 rw no Corresponds to event timer object 1800 5 6500 operating status unsigned16 ro no 0x0 This gives information on encoder internal programmed parameters 6501 measuring steps unsigned32 ro no 1000000 Position measuring step in 0 001 um Version 00 2014 10 nderungen vorbehalten Specifications subject to change TIM CANopen Gebrauchsanleitung novotechnik TIM CANopen user manual Siedle Gruppe 9 4 Explanations to Object Library 9 4 1 Object 0x1002 Manufacture Status Register Different to DS 301 chapter 2 the data type of the TIM CANopen sensor is unsigned8 instead of un signed32 The definition of the manufacture status register is as follows Byte7 Byte6 Byte5 Byte4 Byte3 Byte2 Byte1 ByteO 0 T E3 E2 E1 EO S N N Status 0 sensor in error state 1 normal running state valid position and speed data transmitted S Start up 0 normal running state 1 start up or internal test mode EO Magnet Error 0 one magnet detected 1 no or more than one magnet detected E1 Range Error 0 no error 1 the calculated position is out of range when also the position and speed value is set to zero 1 the velocity value maybe not correct E2 Data flash error 0 no error 1 the CRC check of data flash parameter memory failed E3 Co

NOVOtechnik

Contents

Download Pdf Manuals

Related Search

Related Contents